In this sample application, we use a patrol mission scenario given to a group of unmanned surface vehicles (USV). In the scenario, the top goal of USV is to conduct intelligence, surveillance, and reconnaissance operations against sea piracy and it ensures maritime security of the merchant vessels. USV is responsible for patrolling, monitoring, preventing the sea piracy and protecting the merchant vessels. USV carries out all of these operations in the responsibility area. The USV has the ability of safety navigation as it carries out its assigned tasks (e.g. Patrol task) against sea piracy and ensures the maritime security of merchant vessels. Thus, USV will be aware of the international navigation rules to ensure safe navigation and avoid from a probable ship collision situation.